CN104991255A - Visual principle-based multipoint laser range radar - Google Patents
Visual principle-based multipoint laser range radar Download PDFInfo
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- CN104991255A CN104991255A CN201510357809.4A CN201510357809A CN104991255A CN 104991255 A CN104991255 A CN 104991255A CN 201510357809 A CN201510357809 A CN 201510357809A CN 104991255 A CN104991255 A CN 104991255A
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- laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A visual principle-based multipoint laser range radar. The radar is formed by connecting a laser source, a camera and a computer. The radar first uses the laser source to emit a laser lattice to reflect on a target object, then uses the camera to photograph to obtain two-dimensional position information of the laser lattice, and then the computer works out three-dimensional data of the target object through trigonometry. The radar not only can measure three-dimensional data of a plurality of target objects in real time, but can also be formed by a mobile phone camera and a semiconductor laser diode, and has the advantages of small size, light weight, low cost, no mechanical rotating components and the like. The radar can be placed on a vehicle to be used as a vehicle-mounted laser radar, can also be mounted on a three-dimensional object measuring instrument to measure the three-dimensional data of a target object, and can also be made into a small and exquisite portable handheld laser radar or mounted on equipment such as a robot and an unmanned aerial vehicle to measure three-dimensional information of an ambient environment.
Description
Technical field
The present invention relates to a kind of laser ranging system, especially can measure the laser ranging system of multiple spot distance in real time.
Background technology
In current laser range finder, the method for measurement target object distance mainly by LASER Light Source Emission Lasers pulse signal, and obtains the distance of target object from the time delay of the laser pulse echoed signal of reflections off objects by measurement.Due to metering circuit and the echoed signal contrast circuit more complicated of laser pulse signal, the laser ranging therefore for multiple spot often adopts the mode of point by point scanning to carry out.Such as described in patent (application number 200310113300.2), laser range finder is arranged on rotatable platform, and rotatable platform carries out scanning by motor-driven rotation and finds range.And patent (application number 200910233655.2) adopts and is contained on rotatable platform by target object, rotatable platform can spiral, thus realizes the point by point scanning to target object.
The topmost shortcoming of point by point scanning range finding is that Measuring Time is long, and in order to shorten Measuring Time, simultaneously general idea adopts hyperchannel to measure.Such as described in patent (application number 201410387283.X), the laser echo signal that target object reflects by the fiber array of one dimension is adopted to be coupled to respectively in different fiber, utilize Optical Fiber Transmission to photodetector array, then the echoed signal recorded by photodetector array sends into signal processing unit, contrast echo time delay one by one, thus measure the range information of multiple points of one dimension.Then utilize electric platforms, line by line scan, thus obtain the three-dimensional information of target.Although adopt and compare point by point scanning in this way and improve measuring speed, because photoelectronic detecting array is expensive, complex process, counting that often row gathers is very limited, and therefore resolution is not high.If raising resolution, then need to carry out Multiple-Scan to each row.And adopt electric platforms to line by line scan due to needs, make Measuring Time or long, real-time measurement cannot be realized.
Another approach of range finding adopts computer binocular vision system.Simultaneously so-called binocular vision system utilizes two cameras side by side to take a picture to target object, utilizes the difference between two photos, and on calculating target object, each point is to the angle of two cameras, thus can calculate the distance of each point distance camera on target object.The advantage of vision system is easy to realize real-time sampling.But the shortcoming of vision system also clearly, described in patent (application number 200310113300.2), in order to determine the same impact point in two photos, need to solve whole image, calculated amount is very large, cannot realize real-time measurement.
According to news report (bright net, on May 24th, 2014, exercise question: " experience is taken advantage of in Google's pilotless automobile examination: all too has been saved worry! "), the pilotless automobile of Google's exploitation have employed four laser radars for detection, in order to improve detection efficiency, employ more than 150 laser sensors, about 70,000 dollars of total price, considerably beyond the total price of general vehicle.Therefore, the multiple spot real time laser range radar that development is cheap is current very urgent Science & Technology Demands.
Summary of the invention
In order to the slow and expensive deficiency of the speed overcoming existing range laser radar, the invention provides a kind of multiple spot range laser radar based on visual principle.This radar can not only measure the distance of real-time multiple target, and can be made up of the camera of cheapness and semiconductor laser light resource.This radar both can be placed on vehicle and use as mobile lidar, also can be contained in the three-dimensional data of measurement target object on three-dimensional body measuring instrument, the hand-held laser radar of small volume and less weight can also be made or be arranged on the three-dimensional information equipment such as unmanned plane, robot being measured surrounding environment.
The technical solution adopted for the present invention to solve the technical problems is: on the platform of laser radar, installs some cameras and several laser source system.Camera is all connected with computing machine with LASER Light Source, can be controlled to carry out taking pictures, making a video recording and Emission Lasers by computing machine.For ensureing that search coverage is without dead angle, needs the whole measured zone of visual field combined covering of all cameras.In order to improve measuring accuracy, the method that the visual field of two or more camera overlaps in target area can be adopted.As without the need to very high precision, the visual field of each camera also can not overlap.Laser source system comprises the beam splitting system of laser instrument and lens, diffraction system composition.The installation requirement of laser source system is as camera, and all combination of light sources can the measured zone at coverage goal place.When a measurement is taken, control LASER Light Source send laser by computing machine, laser is divided into the dot matrix of several points by beam splitting system.After laser dot-matrix is radiated at measured zone, target object reflects, to be taken pictures the laser dot-matrix information obtained on target object by camera.Then by computer disposal, utilize two-dimensional position information and the depth information of each point on trigonometric calculations target object, thus realize the laser ranging of real-time multiple spot.
The invention has the beneficial effects as follows, positional information and the depth information of multiple point can be measured simultaneously, mechanical moving element can not be comprised, structure is simple, can accomplish that volume is little, lightweight, and there is no complicated algorithm, can realize real-time sampling to measure, and can adopt cheap semiconductor laser light resource and camera, overall cost is very low.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the structural representation of first embodiment.
Fig. 2 is measuring principle figure of the present invention.
Fig. 3 is the structural representation of the laser source system in first embodiment.
Fig. 4 is the structural representation of second embodiment.
Fig. 5 is the structural representation of the 3rd embodiment.
1. cameras, 2. laser source system, 3. Texas tower, 4. computing machine, 5. laser instrument, 6. lens combination, 7. diffraction screen in figure.
Embodiment
In the embodiment shown in fig. 1, camera (1) and laser source system (2) are fixedly mounted on Texas tower (3), and camera (1) is all connected with computing machine (4) with laser source system (2).The structural representation of the laser source system in the present embodiment as shown in Figure 3.In figure 3, laser instrument (5) adopts GaAlAs/GaAs semiconductor laser diode, send the infrared laser that wavelength is 850nm, laser scioptics group (6) forms the laser beam expanded, be radiated on diffraction screen (7), diffraction screen (7) is by the two-dimentional Darman raster of 64*64 and form with the transmission screen of 64*64 light hole.Laser beam forms the two-dimensional lattice of 64*64 by Darman raster and transmission screen, then is converged by lens combination (6), is radiated at target detection region.Two-dimensional lattice is radiated at target object surface and is reflected, control camera (1) by computing machine (4) and take two-dimensional laser dot matrix photo, and read the level (x-axis) of each laser spots and vertical (y-axis) pixel coordinate.Utilize pixel coordinate to calculate the depth information of laser spots, complete multiple point distance measurement, produce the three-dimensional data of target object.
In measuring principle figure of the present invention shown in Fig. 2, line between camera (1) and LASER Light Source (2) is called datum line, spacing between camera (1) and LASER Light Source (2) is W, the field range of camera is represented by half angular width β, and the central region line of camera and datum line angle are α
0, certain laser spots and the angle between LASER Light Source line and datum line are α
i, laser spot is θ to the angle between camera (1) line of centres and sideline, the visual field.If the x-axis pixel coordinate of this luminous point is n, camera is taken pictures and is had N number of pixel in x-axis.Range formula is then utilized to calculate the degree of depth d of impact point.Range formula is as follows:
Wherein tan (α
0-β) and ctan (α
i) be system constants, and tan (θ) can utilize following formula to obtain.
Each system constants can be measured by simple method above.Get one and draw square tessellated flat board with a scale, be placed on apart from datum line 1 meter of, order flat board is parallel with datum line, and Emission Lasers irradiates two-dimensional laser dot matrix on flat board, measure each laser spots to dot matrix center the projector distance x in x-axis
i, then ctan (α
i)=x
i.Then open camera to take pictures, measuring its edges corresponding point is x to the vertical line of baseline and the distance of camera
0, then tan (α
0-β)=1/x
0.Again by flat board just to camera, distance is also 1 meter, measures the distance x of point to photo center corresponding point of the correspondence of its edges
e, then tan (β)=x
e.
In the embodiment of second as shown in Figure 4, two cameras (1) and a laser source system (2) are fixedly mounted on Texas tower (3).Because the baseline spacing of two cameras strengthens, the precision of measurement can be improved.After the laser dot-matrix that LASER Light Source (2) is launched is radiated at and target object is reflected, by two cameras each shooting photo simultaneously, be transferred to computing machine (4), computer disposal two pictures, obtain the pixel coordinate of each laser spot in two photos respectively, utilize two pixel coordinates, calculate the depth information of each laser spot.Then the depth information utilizing the pixel coordinate in a photo and calculate, produces the three-dimensional data of target object.
In the embodiment of second as shown in Figure 4, suppose that the central region line of two cameras is all vertical with line (datum line) between two cameras, the visual field half angular width of camera is β, spacing between two cameras (1) is W, and two cameras are taken pictures in all total N number of pixel of x-axis.The x-axis pixel coordinate of certain laser spot in the webcam photo of left side is n
1, the x-axis pixel coordinate in the webcam photo of right side is n
2.Then the degree of depth d of this laser spots is
In the embodiment of the 3rd as shown in Figure 5, adopt six cameras and six laser source systems to be fixedly mounted on annular Texas tower (3), 360 ° of omnibearing three-dimensional informations can be measured simultaneously.This embodiment can use as mobile lidar.
Be understandable that, above each embodiment is just in order to illustrate the way of example that principle of the present invention and part beneficial effect adopt, and the present invention also can adopt the camera of any amount and LASER Light Source to realize laser ranging.The present invention also can be arranged in arbitrary equipment as equipment provides the three-dimensional ranging data of any point number.The various enforcement structure of the principle of the invention and application is adopted all to be regarded as protection scope of the present invention.
Claims (7)
1. a multiple spot range laser radar, connected and composed by LASER Light Source, camera and computing machine, it is characterized in that: send multiple spot laser dot-matrix by LASER Light Source, after target object reflection, transmit after being taken pictures by camera into computer disposal, utilize the three-dimensional information of trigonometric calculations target object.
2. the LASER Light Source of range laser radar according to claim 1, it is characterized in that: LASER Light Source is made up of one or more laser instrument, diffraction system and lens combination, after the single beam laser scioptics that each laser instrument sends expand, form any point number and the laser dot-matrix that distributes on demand by diffraction system again.
3. LASER Light Source according to claim 2, it is characterized in that: diffraction system is made up of grating, zone plate or the diffraction screen that designs as required, diffraction screen or zone plate can be utilized to carry out intensity and shape modulation to from the laser facula shape of grating outgoing and distribution.
4. LASER Light Source according to claim 2, is characterized in that: lens combination comprises one or more lens, the combination of scioptics, can control range of exposures and the irradiation distance of multiple spot laser dot-matrix.
5. range laser radar according to claim 1, it is characterized in that: LASER Light Source and camera can have one or more, each light source irradiation areas combine or repeatedly can irradiate and covers required search coverage by once irradiating, and the combination of the visual field of each camera can by once to take or repeatedly shooting covers required search coverage.
6. the camera of range laser radar according to claim 1, it is characterized in that: camera can adopt fixed focal length camera or variable optical focal length camera, can add before camera or not add optical filter, thus laser dot-matrix photo and target object photo can be obtained respectively.
7. range laser radar according to claim 1, it is characterized in that: computing machine by camera take a picture and first obtain the two-dimensional position data of laser dot-matrix, next utilizes trigonometric calculations to go out the depth information of each laser spots, if need also to utilize the three-dimensional information of laser spots to calculate the three-dimensional information of each pixel on photo, thus obtain the three-dimensional data of target object.
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Cited By (10)
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| CN105371818A (en) * | 2015-11-30 | 2016-03-02 | 湖北易瓦特科技股份有限公司 | Ranging obstacle avoidance instrument and ranging obstacle avoidance method for unmanned aerial vehicle |
| CN105629261A (en) * | 2016-01-29 | 2016-06-01 | 大连楼兰科技股份有限公司 | No-scanning automobile crashproof laser radar system based on structured light, and working method thereof |
| WO2017201730A1 (en) * | 2016-05-27 | 2017-11-30 | 深圳市莫孚康技术有限公司 | System and method for image focusing based on lidar distance measurement |
| CN108981182A (en) * | 2017-05-31 | 2018-12-11 | 芜湖美的厨卫电器制造有限公司 | Control method, device and the water heater of water heater |
| CN110487178A (en) * | 2019-07-29 | 2019-11-22 | 烟台南山学院 | A kind of space coordinate measuring instrument and its measurement method |
| CN110988890A (en) * | 2019-12-25 | 2020-04-10 | 四川云盾光电科技有限公司 | Flying object early warning laser fence system |
| CN111801593A (en) * | 2018-03-02 | 2020-10-20 | 松下知识产权经营株式会社 | Object detection device |
| WO2020215745A1 (en) * | 2019-04-22 | 2020-10-29 | 东莞市光劲光电有限公司 | Three-dimensional lidar and positioning method therefor |
| CN113192339A (en) * | 2021-02-01 | 2021-07-30 | 深圳市沛元科技有限公司 | Road operation safety protection warning system |
| CN113687372A (en) * | 2021-08-30 | 2021-11-23 | 威海星空软体机器人科技有限公司 | Laser scanning range unit |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105371818A (en) * | 2015-11-30 | 2016-03-02 | 湖北易瓦特科技股份有限公司 | Ranging obstacle avoidance instrument and ranging obstacle avoidance method for unmanned aerial vehicle |
| CN105629261A (en) * | 2016-01-29 | 2016-06-01 | 大连楼兰科技股份有限公司 | No-scanning automobile crashproof laser radar system based on structured light, and working method thereof |
| CN105629261B (en) * | 2016-01-29 | 2018-08-10 | 大连楼兰科技股份有限公司 | No-raster anti-collision laser radar system of vehicle based on structure light and its working method |
| WO2017201730A1 (en) * | 2016-05-27 | 2017-11-30 | 深圳市莫孚康技术有限公司 | System and method for image focusing based on lidar distance measurement |
| CN108981182A (en) * | 2017-05-31 | 2018-12-11 | 芜湖美的厨卫电器制造有限公司 | Control method, device and the water heater of water heater |
| CN111801593A (en) * | 2018-03-02 | 2020-10-20 | 松下知识产权经营株式会社 | Object detection device |
| WO2020215745A1 (en) * | 2019-04-22 | 2020-10-29 | 东莞市光劲光电有限公司 | Three-dimensional lidar and positioning method therefor |
| CN110487178A (en) * | 2019-07-29 | 2019-11-22 | 烟台南山学院 | A kind of space coordinate measuring instrument and its measurement method |
| CN110988890A (en) * | 2019-12-25 | 2020-04-10 | 四川云盾光电科技有限公司 | Flying object early warning laser fence system |
| CN113192339A (en) * | 2021-02-01 | 2021-07-30 | 深圳市沛元科技有限公司 | Road operation safety protection warning system |
| CN113687372A (en) * | 2021-08-30 | 2021-11-23 | 威海星空软体机器人科技有限公司 | Laser scanning range unit |
| CN113687372B (en) * | 2021-08-30 | 2024-08-06 | 威海星空软体机器人科技有限公司 | Laser scanning range unit |
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